This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file. More...

#include <dynamic-pinocchio.h>

Inheritance diagram for dynamicgraph::sot::DynamicPinocchio:

[legend]

Public Types
typedef int	Dummy

Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t

typedef std::map< std::string, SignalBase< int > * >	SignalMap

Public Member Functions
dg::SignalTimeDependent< dg::Vector, sigtime_t > &	accelerationsSOUT (const std::string &name)

void	cmd_createAccelerationSignal (const std::string &sig, const std::string &j)

void	cmd_createJacobianEndEffectorSignal (const std::string &sig, const std::string &j)

void	cmd_createJacobianEndEffectorWorldSignal (const std::string &sig, const std::string &j)

void	cmd_createJacobianWorldSignal (const std::string &sig, const std::string &j)

void	cmd_createOpPointSignals (const std::string &sig, const std::string &j)

void	cmd_createPositionSignal (const std::string &sig, const std::string &j)

void	cmd_createVelocitySignal (const std::string &sig, const std::string &j)

int &	computeCcrba (int &dummy, const sigtime_t &time)

int &	computeForwardKinematics (int &dummy, const sigtime_t &time)

int &	computeJacobians (int &dummy, const sigtime_t &time)

int &	computeNewtonEuler (int &dummy, const sigtime_t &time)

dg::SignalTimeDependent< dg::Vector, sigtime_t > &	createAccelerationSignal (const std::string &, const std::string &)

void	createData ()

dg::SignalTimeDependent< dg::Matrix, sigtime_t > &	createEndeffJacobianSignal (const std::string &signame, const std::string &, const bool isLocal=true)

dg::SignalTimeDependent< dg::Matrix, sigtime_t > &	createJacobianSignal (const std::string &signame, const std::string &)

dg::SignalTimeDependent< MatrixHomogeneous, sigtime_t > &	createPositionSignal (const std::string &, const std::string &)

dg::SignalTimeDependent< dg::Vector, sigtime_t > &	createVelocitySignal (const std::string &, const std::string &)

void	destroyAccelerationSignal (const std::string &signame)

void	destroyJacobianSignal (const std::string &signame)

void	destroyPositionSignal (const std::string &signame)

void	destroyVelocitySignal (const std::string &signame)

void	displayModel () const

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DYNAMIC_GRAPH_ENTITY_DECL ()

	DynamicPinocchio (const std::string &name)

pinocchio::Data *	getData ()

dg::Vector &	getLowerPositionLimits (dg::Vector &res, const sigtime_t &) const
	Get joint position lower limits. More...

dg::Vector &	getMaxEffortLimits (dg::Vector &res, const sigtime_t &) const
	Get joint effort upper limits. More...

pinocchio::Model *	getModel ()

dg::Vector &	getUpperPositionLimits (dg::Vector &res, const sigtime_t &) const
	Get joint position upper limits. More...

dg::Vector &	getUpperVelocityLimits (dg::Vector &res, const sigtime_t &) const
	Get joint velocity upper limits. More...

dg::SignalTimeDependent< dg::Matrix, sigtime_t > &	jacobiansSOUT (const std::string &name)

dg::SignalTimeDependent< MatrixHomogeneous, sigtime_t > &	positionsSOUT (const std::string &name)

void	setModel (pinocchio::Model *)

dg::SignalTimeDependent< dg::Vector, sigtime_t > &	velocitiesSOUT (const std::string &name)

virtual	~DynamicPinocchio (void)

Public Member Functions inherited from dynamicgraph::Entity
virtual void	display (std::ostream &os) const

std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

virtual const std::string &	getClassName () const

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger &	logger ()

const Logger &	logger () const

const Logger &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Public Attributes
dg::SignalTimeDependent< dg::Vector, sigtime_t >	AngularMomentumSOUT

dg::SignalTimeDependent< Dummy, sigtime_t >	ccrbaSINTERN

dg::SignalTimeDependent< dg::Vector, sigtime_t >	comSOUT

dg::SignalTimeDependent< dg::Vector, sigtime_t >	dynamicDriftSOUT

dg::SignalTimeDependent< double, sigtime_t >	footHeightSOUT

dg::SignalTimeDependent< Dummy, sigtime_t >	forwardKinematicsSINTERN

dg::SignalPtr< dg::Vector, sigtime_t >	freeFlyerAccelerationSIN

dg::SignalPtr< dg::Vector, sigtime_t >	freeFlyerPositionSIN

dg::SignalPtr< dg::Vector, sigtime_t >	freeFlyerVelocitySIN

dg::Signal< dg::Vector, sigtime_t >	gearRatioSOUT

std::list< dg::SignalBase< sigtime_t > * >	genericSignalRefs

dg::SignalTimeDependent< dg::Matrix, sigtime_t >	inertiaRealSOUT

dg::Signal< dg::Vector, sigtime_t >	inertiaRotorSOUT

dg::SignalTimeDependent< dg::Matrix, sigtime_t >	inertiaSOUT

dg::SignalTimeDependent< Dummy, sigtime_t >	jacobiansSINTERN

dg::SignalTimeDependent< dg::Matrix, sigtime_t >	JcomSOUT

dg::SignalPtr< dg::Vector, sigtime_t >	jointAccelerationSIN

dg::SignalPtr< dg::Vector, sigtime_t >	jointPositionSIN

dg::SignalPtr< dg::Vector, sigtime_t >	jointVelocitySIN

dg::SignalTimeDependent< dg::Vector, sigtime_t >	lowerJlSOUT

std::unique_ptr< pinocchio::Data >	m_data

pinocchio::Model *	m_model

dg::SignalTimeDependent< dg::Vector, sigtime_t >	MomentaSOUT

dg::SignalTimeDependent< Dummy, sigtime_t >	newtonEulerSINTERN

dg::SignalTimeDependent< dg::Vector, sigtime_t >	pinocchioAccSINTERN

dg::SignalTimeDependent< dg::Vector, sigtime_t >	pinocchioPosSINTERN

dg::SignalTimeDependent< dg::Vector, sigtime_t >	pinocchioVelSINTERN

dg::SignalTimeDependent< dg::Vector, sigtime_t >	upperJlSOUT

dg::SignalTimeDependent< dg::Vector, sigtime_t >	upperTlSOUT

dg::SignalTimeDependent< dg::Vector, sigtime_t >	upperVlSOUT

dg::SignalTimeDependent< dg::Vector, sigtime_t >	zmpSOUT

Protected Member Functions
dg::Vector &	computeAngularMomentum (dg::Vector &res, const sigtime_t &time)

dg::Vector &	computeCom (dg::Vector &res, const sigtime_t &time)

double &	computeFootHeight (double &res, const sigtime_t &time)

dg::Vector &	computeGenericAcceleration (const int jointId, dg::Vector &res, const sigtime_t &time)

dg::Matrix &	computeGenericEndeffJacobian (const bool isFrame, const bool isLocal, const int jointId, dg::Matrix &res, const sigtime_t &time)

dg::Matrix &	computeGenericJacobian (const bool isFrame, const int jointId, dg::Matrix &res, const sigtime_t &time)

MatrixHomogeneous &	computeGenericPosition (const bool isFrame, const int jointId, MatrixHomogeneous &res, const sigtime_t &time)

dg::Vector &	computeGenericVelocity (const int jointId, dg::Vector &res, const sigtime_t &time)

dg::Matrix &	computeInertia (dg::Matrix &res, const sigtime_t &time)

dg::Matrix &	computeInertiaReal (dg::Matrix &res, const sigtime_t &time)

dg::Matrix &	computeJcom (dg::Matrix &res, const sigtime_t &time)

dg::Vector &	computeMomenta (dg::Vector &res, const sigtime_t &time)

dg::Vector &	computeTorqueDrift (dg::Vector &res, const sigtime_t &time)

dg::Vector &	computeZmp (dg::Vector &res, const sigtime_t &time)

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< int > &signals)

Private Member Functions
dg::Vector &	getPinocchioAcc (dg::Vector &a, const sigtime_t &time)

dg::Vector &	getPinocchioPos (dg::Vector &q, const sigtime_t &time)
	map of joints in construction. map: jointName -> (jointType,jointPosition (in parent frame), function_ptr to pinocchio Joint) More...

dg::Vector &	getPinocchioVel (dg::Vector &v, const sigtime_t &time)

Private Attributes
std::vector< int >	sphericalJoints

Friends
class	sot::command::CreateOpPoint

class	sot::command::SetFile

Additional Inherited Members
Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Detailed Description

This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks. The robot is described by a VRML file.

Definition at line 79 of file dynamic-pinocchio.h.

Member Typedef Documentation

◆ Dummy

typedef int dynamicgraph::sot::DynamicPinocchio::Dummy

Definition at line 120 of file dynamic-pinocchio.h.

Constructor & Destructor Documentation

◆ DynamicPinocchio()

DynamicPinocchio::DynamicPinocchio ( const std::string & name )

Definition at line 32 of file sot-dynamic-pinocchio.cpp.

◆ ~DynamicPinocchio()

DynamicPinocchio::~DynamicPinocchio ( void )

virtual

Definition at line 280 of file sot-dynamic-pinocchio.cpp.

Member Function Documentation

◆ accelerationsSOUT()

dg::SignalTimeDependent< dg::Vector, sigtime_t > & DynamicPinocchio::accelerationsSOUT ( const std::string & name )

Definition at line 1075 of file sot-dynamic-pinocchio.cpp.

◆ cmd_createAccelerationSignal()

void DynamicPinocchio::cmd_createAccelerationSignal	(	const std::string &	sig,
		const std::string &	j
	)

Definition at line 1123 of file sot-dynamic-pinocchio.cpp.

◆ cmd_createJacobianEndEffectorSignal()

void DynamicPinocchio::cmd_createJacobianEndEffectorSignal	(	const std::string &	sig,
		const std::string &	j
	)

Definition at line 1105 of file sot-dynamic-pinocchio.cpp.

◆ cmd_createJacobianEndEffectorWorldSignal()

void DynamicPinocchio::cmd_createJacobianEndEffectorWorldSignal	(	const std::string &	sig,
		const std::string &	j
	)

Definition at line 1110 of file sot-dynamic-pinocchio.cpp.

◆ cmd_createJacobianWorldSignal()

void DynamicPinocchio::cmd_createJacobianWorldSignal	(	const std::string &	sig,
		const std::string &	j
	)

Definition at line 1101 of file sot-dynamic-pinocchio.cpp.

◆ cmd_createOpPointSignals()

void DynamicPinocchio::cmd_createOpPointSignals	(	const std::string &	sig,
		const std::string &	j
	)

Definition at line 1096 of file sot-dynamic-pinocchio.cpp.

◆ cmd_createPositionSignal()

void DynamicPinocchio::cmd_createPositionSignal	(	const std::string &	sig,
		const std::string &	j
	)

Definition at line 1115 of file sot-dynamic-pinocchio.cpp.

◆ cmd_createVelocitySignal()

void DynamicPinocchio::cmd_createVelocitySignal	(	const std::string &	sig,
		const std::string &	j
	)

Definition at line 1119 of file sot-dynamic-pinocchio.cpp.

◆ computeAngularMomentum()

dg::Vector & DynamicPinocchio::computeAngularMomentum	(	dg::Vector &	res,
		const sigtime_t &	time
	)

protected

Definition at line 1017 of file sot-dynamic-pinocchio.cpp.

◆ computeCcrba()

int & DynamicPinocchio::computeCcrba	(	int &	dummy,
		const sigtime_t &	time
	)

Definition at line 793 of file sot-dynamic-pinocchio.cpp.

◆ computeCom()

dg::Vector & DynamicPinocchio::computeCom	(	dg::Vector &	res,
		const sigtime_t &	time
	)

protected

Definition at line 941 of file sot-dynamic-pinocchio.cpp.

◆ computeFootHeight()

double & DynamicPinocchio::computeFootHeight	(	double &	res,
		const sigtime_t &	time
	)

protected

Definition at line 980 of file sot-dynamic-pinocchio.cpp.

◆ computeForwardKinematics()

int & DynamicPinocchio::computeForwardKinematics	(	int &	dummy,
		const sigtime_t &	time
	)

Definition at line 779 of file sot-dynamic-pinocchio.cpp.

◆ computeGenericAcceleration()

dg::Vector & DynamicPinocchio::computeGenericAcceleration	(	const int	jointId,
		dg::Vector &	res,
		const sigtime_t &	time
	)

protected

Definition at line 904 of file sot-dynamic-pinocchio.cpp.

◆ computeGenericEndeffJacobian()

dg::Matrix & DynamicPinocchio::computeGenericEndeffJacobian	(	const bool	isFrame,
		const bool	isLocal,
		const int	jointId,
		dg::Matrix &	res,
		const sigtime_t &	time
	)

protected

Definition at line 824 of file sot-dynamic-pinocchio.cpp.

◆ computeGenericJacobian()

dg::Matrix & DynamicPinocchio::computeGenericJacobian	(	const bool	isFrame,
		const int	jointId,
		dg::Matrix &	res,
		const sigtime_t &	time
	)

protected

Definition at line 803 of file sot-dynamic-pinocchio.cpp.

◆ computeGenericPosition()

MatrixHomogeneous & DynamicPinocchio::computeGenericPosition	(	const bool	isFrame,
		const int	jointId,
		MatrixHomogeneous &	res,
		const sigtime_t &	time
	)

protected

Definition at line 873 of file sot-dynamic-pinocchio.cpp.

◆ computeGenericVelocity()

dg::Vector & DynamicPinocchio::computeGenericVelocity	(	const int	jointId,
		dg::Vector &	res,
		const sigtime_t &	time
	)

protected

Definition at line 892 of file sot-dynamic-pinocchio.cpp.

◆ computeInertia()

dg::Matrix & DynamicPinocchio::computeInertia	(	dg::Matrix &	res,
		const sigtime_t &	time
	)

protected

Definition at line 953 of file sot-dynamic-pinocchio.cpp.

◆ computeInertiaReal()

dg::Matrix & DynamicPinocchio::computeInertiaReal	(	dg::Matrix &	res,
		const sigtime_t &	time
	)

protected

Definition at line 964 of file sot-dynamic-pinocchio.cpp.

◆ computeJacobians()

int & DynamicPinocchio::computeJacobians	(	int &	dummy,
		const sigtime_t &	time
	)

Definition at line 771 of file sot-dynamic-pinocchio.cpp.

◆ computeJcom()

dg::Matrix & DynamicPinocchio::computeJcom	(	dg::Matrix &	res,
		const sigtime_t &	time
	)

protected

Definition at line 932 of file sot-dynamic-pinocchio.cpp.

◆ computeMomenta()

dg::Vector & DynamicPinocchio::computeMomenta	(	dg::Vector &	res,
		const sigtime_t &	time
	)

protected

Definition at line 1005 of file sot-dynamic-pinocchio.cpp.

◆ computeNewtonEuler()

int & DynamicPinocchio::computeNewtonEuler	(	int &	dummy,
		const sigtime_t &	time
	)

Definition at line 915 of file sot-dynamic-pinocchio.cpp.

◆ computeTorqueDrift()

dg::Vector & DynamicPinocchio::computeTorqueDrift	(	dg::Vector &	res,
		const sigtime_t &	time
	)

protected

Definition at line 996 of file sot-dynamic-pinocchio.cpp.

◆ computeZmp()

dg::Vector & DynamicPinocchio::computeZmp	(	dg::Vector &	res,
		const sigtime_t &	time
	)

protected

Definition at line 748 of file sot-dynamic-pinocchio.cpp.

◆ createAccelerationSignal()

dg::SignalTimeDependent< dg::Vector, sigtime_t > & DynamicPinocchio::createAccelerationSignal	(	const std::string &	signame,
		const std::string &	jointName
	)

Definition at line 623 of file sot-dynamic-pinocchio.cpp.

◆ createData()

void DynamicPinocchio::createData ( )

Definition at line 312 of file sot-dynamic-pinocchio.cpp.

◆ createEndeffJacobianSignal()

dg::SignalTimeDependent< dg::Matrix, sigtime_t > & DynamicPinocchio::createEndeffJacobianSignal	(	const std::string &	signame,
		const std::string &	jointName,
		const bool	isLocal = `true`
	)

Definition at line 540 of file sot-dynamic-pinocchio.cpp.

◆ createJacobianSignal()

dg::SignalTimeDependent< dg::Matrix, sigtime_t > & DynamicPinocchio::createJacobianSignal	(	const std::string &	signame,
		const std::string &	jointName
	)

Definition at line 509 of file sot-dynamic-pinocchio.cpp.

◆ createPositionSignal()

dg::SignalTimeDependent< MatrixHomogeneous, sigtime_t > & DynamicPinocchio::createPositionSignal	(	const std::string &	signame,
		const std::string &	jointName
	)

Definition at line 572 of file sot-dynamic-pinocchio.cpp.

◆ createVelocitySignal()

SignalTimeDependent< dg::Vector, sigtime_t > & DynamicPinocchio::createVelocitySignal	(	const std::string &	signame,
		const std::string &	jointName
	)

Definition at line 603 of file sot-dynamic-pinocchio.cpp.

◆ destroyAccelerationSignal()

void DynamicPinocchio::destroyAccelerationSignal ( const std::string & signame )

Definition at line 717 of file sot-dynamic-pinocchio.cpp.

◆ destroyJacobianSignal()

void DynamicPinocchio::destroyJacobianSignal ( const std::string & signame )

Definition at line 642 of file sot-dynamic-pinocchio.cpp.

◆ destroyPositionSignal()

void DynamicPinocchio::destroyPositionSignal ( const std::string & signame )

Definition at line 666 of file sot-dynamic-pinocchio.cpp.

◆ destroyVelocitySignal()

void DynamicPinocchio::destroyVelocitySignal ( const std::string & signame )

Definition at line 692 of file sot-dynamic-pinocchio.cpp.

◆ displayModel()

void dynamicgraph::sot::DynamicPinocchio::displayModel ( ) const

inline

Definition at line 176 of file dynamic-pinocchio.h.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW dynamicgraph::sot::DynamicPinocchio::DYNAMIC_GRAPH_ENTITY_DECL ( )

◆ getData()

pinocchio::Data* dynamicgraph::sot::DynamicPinocchio::getData ( )

inline

Definition at line 187 of file dynamic-pinocchio.h.

◆ getLowerPositionLimits()

dg::Vector & DynamicPinocchio::getLowerPositionLimits	(	dg::Vector &	res,
		const sigtime_t &
	)		const

Get joint position lower limits.

Parameters

[out] result vector

Returns: result vector

Definition at line 318 of file sot-dynamic-pinocchio.cpp.

◆ getMaxEffortLimits()

dg::Vector & DynamicPinocchio::getMaxEffortLimits	(	dg::Vector &	res,
		const sigtime_t &
	)		const

Get joint effort upper limits.

Parameters

[out] result vector

Returns: result vector

Definition at line 418 of file sot-dynamic-pinocchio.cpp.

◆ getModel()

pinocchio::Model* dynamicgraph::sot::DynamicPinocchio::getModel ( )

inline

Definition at line 185 of file dynamic-pinocchio.h.

◆ getPinocchioAcc()

dg::Vector & DynamicPinocchio::getPinocchioAcc	(	dg::Vector &	a,
		const sigtime_t &	time
	)

private

Definition at line 492 of file sot-dynamic-pinocchio.cpp.

◆ getPinocchioPos()

dg::Vector & DynamicPinocchio::getPinocchioPos	(	dg::Vector &	q,
		const sigtime_t &	time
	)

private

map of joints in construction. map: jointName -> (jointType,jointPosition (in parent frame), function_ptr to pinocchio Joint)

Definition at line 431 of file sot-dynamic-pinocchio.cpp.

◆ getPinocchioVel()

dg::Vector & DynamicPinocchio::getPinocchioVel	(	dg::Vector &	v,
		const sigtime_t &	time
	)

private

Definition at line 477 of file sot-dynamic-pinocchio.cpp.

◆ getUpperPositionLimits()

dg::Vector & DynamicPinocchio::getUpperPositionLimits	(	dg::Vector &	res,
		const sigtime_t &
	)		const

Get joint position upper limits.

Parameters

[out] result vector

Returns: result vector

Definition at line 365 of file sot-dynamic-pinocchio.cpp.

◆ getUpperVelocityLimits()

dg::Vector & DynamicPinocchio::getUpperVelocityLimits	(	dg::Vector &	res,
		const sigtime_t &
	)		const

Get joint velocity upper limits.

Parameters

[out] result vector

Returns: result vector

Definition at line 405 of file sot-dynamic-pinocchio.cpp.

◆ jacobiansSOUT()

dg::SignalTimeDependent< dg::Matrix, sigtime_t > & DynamicPinocchio::jacobiansSOUT ( const std::string & name )

Definition at line 1032 of file sot-dynamic-pinocchio.cpp.

◆ positionsSOUT()

dg::SignalTimeDependent< MatrixHomogeneous, sigtime_t > & DynamicPinocchio::positionsSOUT ( const std::string & name )

Definition at line 1046 of file sot-dynamic-pinocchio.cpp.

◆ setModel()

void DynamicPinocchio::setModel ( pinocchio::Model * modelPtr )

Definition at line 297 of file sot-dynamic-pinocchio.cpp.

◆ velocitiesSOUT()

dg::SignalTimeDependent< dg::Vector, sigtime_t > & DynamicPinocchio::velocitiesSOUT ( const std::string & name )

Definition at line 1061 of file sot-dynamic-pinocchio.cpp.

Friends And Related Function Documentation

◆ sot::command::CreateOpPoint

friend class sot::command::CreateOpPoint

friend

Definition at line 81 of file dynamic-pinocchio.h.

◆ sot::command::SetFile

friend class sot::command::SetFile

friend

Definition at line 80 of file dynamic-pinocchio.h.

Member Data Documentation

◆ AngularMomentumSOUT

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::AngularMomentumSOUT

Definition at line 166 of file dynamic-pinocchio.h.

◆ ccrbaSINTERN

dg::SignalTimeDependent<Dummy, sigtime_t> dynamicgraph::sot::DynamicPinocchio::ccrbaSINTERN

Definition at line 135 of file dynamic-pinocchio.h.

◆ comSOUT

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::comSOUT

Definition at line 144 of file dynamic-pinocchio.h.

◆ dynamicDriftSOUT

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::dynamicDriftSOUT

Definition at line 167 of file dynamic-pinocchio.h.

◆ footHeightSOUT

dg::SignalTimeDependent<double, sigtime_t> dynamicgraph::sot::DynamicPinocchio::footHeightSOUT

Definition at line 156 of file dynamic-pinocchio.h.

◆ forwardKinematicsSINTERN

dg::SignalTimeDependent<Dummy, sigtime_t> dynamicgraph::sot::DynamicPinocchio::forwardKinematicsSINTERN

Definition at line 134 of file dynamic-pinocchio.h.

◆ freeFlyerAccelerationSIN

dg::SignalPtr<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::freeFlyerAccelerationSIN

Definition at line 126 of file dynamic-pinocchio.h.

◆ freeFlyerPositionSIN

dg::SignalPtr<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::freeFlyerPositionSIN

Definition at line 122 of file dynamic-pinocchio.h.

◆ freeFlyerVelocitySIN

dg::SignalPtr<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::freeFlyerVelocitySIN

Definition at line 124 of file dynamic-pinocchio.h.

◆ gearRatioSOUT

dg::Signal<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::gearRatioSOUT

Definition at line 163 of file dynamic-pinocchio.h.

◆ genericSignalRefs

std::list<dg::SignalBase<sigtime_t>*> dynamicgraph::sot::DynamicPinocchio::genericSignalRefs

Definition at line 116 of file dynamic-pinocchio.h.

◆ inertiaRealSOUT

dg::SignalTimeDependent<dg::Matrix, sigtime_t> dynamicgraph::sot::DynamicPinocchio::inertiaRealSOUT

Definition at line 164 of file dynamic-pinocchio.h.

◆ inertiaRotorSOUT

dg::Signal<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::inertiaRotorSOUT

Definition at line 162 of file dynamic-pinocchio.h.

◆ inertiaSOUT

dg::SignalTimeDependent<dg::Matrix, sigtime_t> dynamicgraph::sot::DynamicPinocchio::inertiaSOUT

Definition at line 145 of file dynamic-pinocchio.h.

◆ jacobiansSINTERN

dg::SignalTimeDependent<Dummy, sigtime_t> dynamicgraph::sot::DynamicPinocchio::jacobiansSINTERN

Definition at line 133 of file dynamic-pinocchio.h.

◆ JcomSOUT

dg::SignalTimeDependent<dg::Matrix, sigtime_t> dynamicgraph::sot::DynamicPinocchio::JcomSOUT

Definition at line 143 of file dynamic-pinocchio.h.

◆ jointAccelerationSIN

dg::SignalPtr<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::jointAccelerationSIN

Definition at line 125 of file dynamic-pinocchio.h.

◆ jointPositionSIN

dg::SignalPtr<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::jointPositionSIN

Definition at line 121 of file dynamic-pinocchio.h.

◆ jointVelocitySIN

dg::SignalPtr<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::jointVelocitySIN

Definition at line 123 of file dynamic-pinocchio.h.

◆ lowerJlSOUT

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::lowerJlSOUT

Definition at line 158 of file dynamic-pinocchio.h.

◆ m_data

std::unique_ptr<pinocchio::Data> dynamicgraph::sot::DynamicPinocchio::m_data

Definition at line 90 of file dynamic-pinocchio.h.

◆ m_model

pinocchio::Model* dynamicgraph::sot::DynamicPinocchio::m_model

Definition at line 89 of file dynamic-pinocchio.h.

◆ MomentaSOUT

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::MomentaSOUT

Definition at line 165 of file dynamic-pinocchio.h.

◆ newtonEulerSINTERN

dg::SignalTimeDependent<Dummy, sigtime_t> dynamicgraph::sot::DynamicPinocchio::newtonEulerSINTERN

Definition at line 132 of file dynamic-pinocchio.h.

◆ pinocchioAccSINTERN

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::pinocchioAccSINTERN

Definition at line 130 of file dynamic-pinocchio.h.

◆ pinocchioPosSINTERN

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::pinocchioPosSINTERN

Definition at line 128 of file dynamic-pinocchio.h.

◆ pinocchioVelSINTERN

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::pinocchioVelSINTERN

Definition at line 129 of file dynamic-pinocchio.h.

◆ sphericalJoints

std::vector<int> dynamicgraph::sot::DynamicPinocchio::sphericalJoints

private

Definition at line 267 of file dynamic-pinocchio.h.

◆ upperJlSOUT

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::upperJlSOUT

Definition at line 157 of file dynamic-pinocchio.h.

◆ upperTlSOUT

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::upperTlSOUT

Definition at line 160 of file dynamic-pinocchio.h.

◆ upperVlSOUT

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::upperVlSOUT

Definition at line 159 of file dynamic-pinocchio.h.

◆ zmpSOUT

dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicgraph::sot::DynamicPinocchio::zmpSOUT

Definition at line 142 of file dynamic-pinocchio.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Dummy

Constructor & Destructor Documentation

◆ DynamicPinocchio()

◆ ~DynamicPinocchio()

Member Function Documentation

◆ accelerationsSOUT()

◆ cmd_createAccelerationSignal()

◆ cmd_createJacobianEndEffectorSignal()

◆ cmd_createJacobianEndEffectorWorldSignal()

◆ cmd_createJacobianWorldSignal()

◆ cmd_createOpPointSignals()

◆ cmd_createPositionSignal()

◆ cmd_createVelocitySignal()

◆ computeAngularMomentum()

◆ computeCcrba()

◆ computeCom()

◆ computeFootHeight()

◆ computeForwardKinematics()

◆ computeGenericAcceleration()

◆ computeGenericEndeffJacobian()

◆ computeGenericJacobian()

◆ computeGenericPosition()

◆ computeGenericVelocity()

◆ computeInertia()

◆ computeInertiaReal()

◆ computeJacobians()

◆ computeJcom()

◆ computeMomenta()

◆ computeNewtonEuler()

◆ computeTorqueDrift()

◆ computeZmp()

◆ createAccelerationSignal()

◆ createData()

◆ createEndeffJacobianSignal()

◆ createJacobianSignal()

◆ createPositionSignal()

◆ createVelocitySignal()

◆ destroyAccelerationSignal()

◆ destroyJacobianSignal()

◆ destroyPositionSignal()

◆ destroyVelocitySignal()

◆ displayModel()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ getData()

◆ getLowerPositionLimits()

◆ getMaxEffortLimits()

◆ getModel()

◆ getPinocchioAcc()

◆ getPinocchioPos()

◆ getPinocchioVel()

◆ getUpperPositionLimits()

◆ getUpperVelocityLimits()

◆ jacobiansSOUT()

◆ positionsSOUT()

◆ setModel()

◆ velocitiesSOUT()

Friends And Related Function Documentation

◆ sot::command::CreateOpPoint

◆ sot::command::SetFile

Member Data Documentation

◆ AngularMomentumSOUT

◆ ccrbaSINTERN

◆ comSOUT

◆ dynamicDriftSOUT

◆ footHeightSOUT

◆ forwardKinematicsSINTERN

◆ freeFlyerAccelerationSIN

◆ freeFlyerPositionSIN

◆ freeFlyerVelocitySIN

◆ gearRatioSOUT